Author

Ya-Ping Li

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Preprint Sep 2026

Skel-WAM: A Hand-Skeleton-Conditioned World Action Model for Human-to-Robot Manipulation Transfer

Robot demonstrations are expensive to collect and often provide limited distributional coverage of task variations. Human videos offer a low-cost source of complementary manipulation experience, but learning from them requires bridging embodiment gaps in visual appearance and action spaces. We introduce Skel-WAM, a wor...

Ze-Tao Cai, Ya-Ping Li, Yi-Qun Wang et al. · 0 citations

Jul 2026

KAI: A Kinematic-Aware Interface for Data-Efficient Articulated Object Manipulation

The Kinematic-Aware Articulation Interface (KAI), a structured intermediate representation that captures the kinematic structure of articulated objects, is introduced, a structured intermediate representation that provides a strong inductive bias aligned with the underlying structure of articulated motion.

Ya-Ping Li, Zhaxizhuoma, Qiao-Jun Yu et al. · arXiv.org · 0 citations